Discrepancy with Yumi Pose and Yumi State while using yumipy

[kvdeepak]

Hi,

While working with Yumi IRB 14000 robot, I found some discrepancies between the pose and state that yumipy returns. To verify this discrepancy, the following steps can be followed:

1. Go to pose T using goto_pose(T)
2. Extract current state S using get_state().
3. Execute goto_state(S)
   Ideally, the robot should not have moved at all, but the resulting pose was wildly inaccurate. I observed that only one of the joints (joint 7) was moving when I was executing the 3rd step.

This issue does not occur with all poses. But it consistently occurs for this particular pose in the robot I am working with.
Pose:
Translation : [0.42991, 0.1439, 0.13248]
Rotation: [ 0.06497447, 0.83567165, -0.12095248, 0.53179105]

code snippet:
yumi_state_and_pose_discrepancy.txt

I am not sure how this is going wrong. Any help is much appreciated!

Best Regards,
Deepak Kala Vasudevan

[kvdeepak]

I see that there is some discrepancy in the joint poses.

After going to position T, Get state returns:
yumipy:[-65.18, -119.06, 42.5, 196.38, 23.46, 137.71, 135.0]
flexpendant:[-65.18, -119.06, 42.5, -163.62, 23.46, 137.71, 78.57]

After executing goto state, and then running get state:
Goto:
yumipy: [-65.18, -119.06, 42.5, 196.38, 23.46, 137.71, 135.0]
flexpendant:[-65.18, -119.06, 42.5, 196.38, 23.46, 137.71, 135.0]